CN206487989U - A kind of spiral type pipeline robot of speed self-regulation - Google Patents

Abstract

The utility model discloses a kind of spiral type pipeline robot of speed self-regulation, by fixed guide part, rotation driving section and connect this two-part universal joint (6) and constitute.Wherein, fixed guide part is made up of reducing motor (7) and the three groups of symmetrical guiding wheel carriers (10) installed on its housing, two directive wheels (8) are installed, the axis of its pivot center and reducing motor (7) output shaft is mutually perpendicular on every group of guiding wheel carrier；Rotation driving section is made up of three groups of rotation wheel carriers being symmetric in a subtriangular rotor (1) and portion mounted thereto.Speed self-regulation screw pipe robot motion is flexible, and tractive force is big, and driving wheel helical angle can be automatically adjusted according to the size of load, changes the speed of robot, can better adapt to the tube environment operation of complexity.

Description

A kind of spiral type pipeline robot of speed self-regulation

Technical field

The present invention relates to a kind of spiral type pipeline robot of speed self-regulation, belong to pipe robot field.

Background technology

Pipeline plays great function as main fluid conveyance in human being's production, life.Pipeline is long-term Use during rupture, blocking etc. occurs unavoidably, this requires us regularly pipeline must be reconnoitred and safeguarded. Traditional pipe robot uses four-wheel-type, and its walking is unstable, easily topples, and driving force is not enough.Spiral promotion mechanism Have many advantages, such as：1. pace is fast, driving force is big；2. pair pipe diameter size and the adaptability of pipe shape change are stronger；3. It is easy to control；4. the pipe internal stability of mechanism is good.Because the sensor of carrying varies in weight and conduit slope difference, cause machine Very greatly, the power output of motor is difficult to meet and required for load change during device people work.At present screw type pipeline Robot, its speed of service is relatively single, and the requirement of different condition of work often to the speed of service is also different.Spiral shell Driving type pipeline robot is revolved, it drives wheel angle to be all fixed, can only manual adjustment if wanting to adjust the speed of robot The power of motor changes rotating speed.How the power output of motor to be made full use of, make robot according to different work Environment automatically adjusts gait of march, is not efficiently solved yet at present.

Utility model content

The present invention is directed to the problem of existing spiral type pipeline robot speed of service is relatively single, it is proposed that a kind of new Speed self-regulation screw pipe robot.The robot can automatically adjust gait of march, not only fill according to the change of load Divide and make use of power output, and improve adaptability of the robot to complex work environment.

Technical scheme is as follows：

A kind of helical driving type pipe robot according to automatic load adjusting pace, by fixed guide part, rotation Turn drive part and connect this two-part universal joint (6) composition.Wherein, fixed guide part is by reducing motor (7) and peace The three groups of symmetrical guiding wheel carriers (10) of dress on its housing are constituted, and two wheels, its turn are installed on every group of guiding wheel carrier The axis of shaft line and motor output shaft is mutually perpendicular to；Rotation driving section is by a subtriangular rotor (1) and installs Two wheels (5), its pivot center and electricity are installed again on the wheel carrier composition that three groups at an upper portion thereof are symmetric, every group of wheel carrier There is certain angle in the axis of machine output shaft, the size of the angle is loaded by robot determines jointly with the torsion spring (2) on wheel carrier It is fixed.The wheel carrier (10) of central shaft (3) and fixed guide part on the rotor of rotation driving section is buoyancy body, utilizes peace The wheel on all wheel carriers is set to be closely attached on inner-walls of duct to produce pretightning force mounted in the spring (11) of bottom and (9).

The wheel carrier of the rotation driving section is relative between rotation wheel carrier, and rotational structure (4) and central shaft (3) Position is constrained by torsion spring (2), and torsion spring (2) one end is fixed with central shaft (3), and the other end is fixed with rotational structure (4).Torsion spring (2) Initial position and decrement determine this it is robotically-driven wheel (5) rotation axis and rotor (1) central axis between deflection Angle.

It is of the invention compared with existing pipe robot, with following features and advantage：1) it is simple in construction, fabricate cost It is low；2) wheel angle not fixed value is driven, the size of deflection angle is together decided on by parameter and the robot load of torsion spring.Load Smaller, driving wheel angle is smaller, and robot movement velocity is faster.Otherwise motion is slower.3) because driving wheel angle can be with It is changed into very big, so in the case of same power output, the maximum driving force of the robot is fixed much larger than driving wheel angle Pipe robot.4) power output of motor is made full use of, same distance is run, speed self-regulation pipe robot is more Energy-conservation.

Brief description of the drawings

Fig. 1 is the overall structure diagram of the present invention.

Fig. 2 is rotating driving device structural representation.

Fig. 3 is driving wheel angle control principle drawing.

In figure：1. rotor, 2. torsion springs, 3. central shafts, 4. rotational structures, 5. driving wheels, 6. universal joints, 7. reducing motors, 8. directive wheel, 9. springs, 10. wheel carriers, 11. springs.

Embodiment

Below in conjunction with the accompanying drawings and embodiment the present invention will be further described：

As shown in figure 1, a kind of helical driving type pipe robot of speed self-regulation, including fixed guide part, rotation Drive part and connect this two-part universal joint (6).Described fixed guide part is by reducing motor (7) and installed in it Three groups of symmetrical guiding wheel carriers (10) on shell are constituted, and two wheels (8), wheel (8) are installed on every group of guiding wheel carrier The axis of pivot center and reducing motor (7) output shaft be mutually perpendicular to；Rotation driving section is by a subtriangular turn The rotation wheel carrier composition that three groups of sub (1) and portion mounted thereto are symmetric, rotation wheel carrier is tied by central shaft (3), rotation The torsion spring (2) of the two relative position of structure (4) and limitation is constituted, and two driving wheels (5) are installed again on each rotational structure (4), is driven There is certain angle in the rotation axis of driving wheel (5), the size of the angle is loaded and taken turns by robot with the central axis of rotor (1) Torsion spring (2) parameter on frame is together decided on.Connected between screw drives part and fixed guide part using universal joint (6), side Just the robot passes through the smaller bend pipe of radius of curvature.The central shaft (3) and the wheel carrier of fixed guide part of rotation driving section (10) it is buoyancy body, can be moved along respective axis, its bottom is equipped with compression spring (11) and (9), utilizes the pretension of spring The driving wheel (5) for card rotation driving section of trying hard to keep and the wheel (8) being oriented on wheel carrier (10) are close to inner-walls of duct, robot production Certain caliber change is also adapted to while raw driving force.

The speed self-regulation robot operation principle be：Reducing motor (7) drives rotor (1) to revolve by universal joint (6) Turn, three groups of driving wheels (5) on rotor (1) are close to tube wall because the pretension of spring (11) is acted on, therefore when rotor (1) rotates The frictional force rotation that three groups of wheels can be provided by tube wall, because the rotation axis of driving wheel (5) exists with the rotation axis of rotor (1) Certain angle, therefore the movement locus of driving wheel (5) is spatially spiral line along conduit axis, so as to drive whole robot Walked along conduit axis；And the directive wheel (8) on fixed guide outer wall wheel carrier (10), because its rotation axis is with slowing down The axis of motor is vertical, therefore it can only drive whole fixed guide to advance or retreat along axis, play guide effect, prevent Only reducing motor (7) causes shell to dally because of reaction force, it is ensured that the even running of robot.

Due to the change such as caliber, gradient, the load of robot can also change therewith, and traditional screw machine people can only lead to Control system is crossed to manually change power of motor with rotating speed to adapt to corresponding working environment change.Speed self-regulation pipe robot Driving wheel inclination angle not fixed value, load acts on the moment of torsion of central shaft (3) by rotational structure (4) and torsion spring (2) is carried The moment of torsion of confession is balanced each other, and when the gradient is larger or other reasonses cause load to become big, the moment of torsion for acting on central shaft (3) also can The decrement increase of increase, now torsion spring, the deflection angle increase of driving wheel (5), pace slows down, but can provide larger lead Gravitation；When robot enters horizontal tube or other reasonses load reduces, the decrement of torsion spring also reduces therewith, now drives The deflection angle for taking turns (5) reduces, and robot can be fast forwarded through, and improves operating efficiency.Therefore, speed self-regulation robot can basis Workload automatically adjusts pace, and operating efficiency is higher, and adaptability is stronger.

Claims (1)

1. a kind of helical driving type pipe robot of speed self-regulation, by fixed guide part, rotation driving section and company This two-part universal joint (6) composition is connect, the wheel carrier of rotation driving section is to rotate wheel carrier, and rotational structure (4) and central shaft (3) relative position between is constrained by torsion spring (2), and the initial position and decrement of torsion spring (2) determine the robotically-driven wheel (5) portion of the deflection angle of rotation axis and the central axis of rotor (1), limitation driving wheel rotational structure (4) and central shaft (3) Part is torsion spring, and the deflection angle of driving wheel (5) rotation axis and the central axis of rotor (1) is by load and the parameter of torsion spring (2) Together decide on, when loading increase, the moment of torsion for acting on central shaft (3) by rotational structure (4) increases, the compression of torsion spring (2) Amount increase, the deflection angle of driving wheel (5) rotation axis is automatically increased, and robot enters the working condition of the big pulling force of low speed；And When the load decreases, the deflection angle of driving wheel (5) rotation axis reduces automatically, and robot translational speed is speeded, and is easy to energy-conservation.